Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 354

Processing details
■Start and end for 2 to 4 axes continuous trajectory control
2 to 4 axes continuous trajectory control is started and ended using the following instructions:
Instruction
CPSTART2
CPSTART3
CPSTART4
CPEND
■Positioning control method to the pass point
Positioning control to change control is specified using the following instructions:
Instruction
ABS-2, INC-2
ABS-3, INC-3
ABS-4, INC-4
ABS/INC
ABS/INC , ABS/INC
ABS/INC , ABS/INC
ABS/INC , ABS/INC
Precautions
For circular interpolation control at the pass points for continuous trajectory control of 2 to 4 axes, specify any 2 axes among
the controlled axes. When axes other than the axes specified for circular interpolation control are detected, an error occurs,
resulting in a deceleration stop.
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Program example 1
The program for repeating 2 axis continuous trajectory control of Axis 2 and Axis 3 is explained as an example.
• Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Positioning speed
Positioning method
Pass point Axis 2
Axis 3
• Continuous trajectory control start command: X0 Leading edge (OFF  ON)
5 POSITIONING CONTROL
352
5.17 Continuous Trajectory Control
Description
Starts the 2 axes continuous trajectory control. Sets the axis No. and command speed.
Starts the 3 axes continuous trajectory control. Sets the axis No. and command speed.
Starts the 4 axes continuous trajectory control. Sets the axis No. and command speed.
Ends the 2, 3, or 4 axes continuous trajectory control for CPSTART2, CPSTART3, or CPSTART4.
Description
Sets 2 axes linear interpolation control.
Control details are identical to 2 axes linear interpolation control. (Page 273 2 Axes Linear Interpolation Control)
Sets 3 axes linear interpolation control.
Control details are identical to 3 axes linear interpolation control. (Page 276 3 Axes Linear Interpolation Control)
Sets 4 axes linear interpolation control.
Control details are identical to 4 axes linear interpolation control. (Page 280 4 Axes Linear Interpolation Control)
Sets circular interpolation control using auxiliary point specification.
Control details are identical to auxiliary point-specified circular interpolation control. (Page 283 Auxiliary Point-
Specified Circular Interpolation Control)
, Sets circular interpolation control using radius specification.
Control details are identical to radius-specified circular interpolation control. (Page 287 Radius-Specified Circular
Interpolation Control)
Sets circular interpolation control using center point specification.
Control details are identical to central point-specified circular interpolation control. (Page 291 Central Point-
Specified Circular Interpolation Control)
Setting
505
10000
2 axes linear interpolation
30000
30000
Radius-specified circular interpolation
50000
50000
2 axes linear interpolation
90000
100000